VISION SYSTEM FOR VEHICLE
First Claim
1. A vision system for a vehicle, said vision system comprising:
- a camera having a field of view in a forward direction of travel of a vehicle equipped with said vision system;
wherein said camera comprises a lens and a CMOS imaging array comprising a two-dimensional array of photosensing elements;
wherein said two-dimensional array of photosensing elements comprises at least 307,200 photosensing elements arranged in a matrix array of rows and columns;
wherein image data is captured by said camera as sequential frames of image data and is captured at a frame rate in the range of from 5 image frames per second to 120 image frames per second;
a control comprising an image processor;
wherein image data captured by said camera is processed by said image processor to determine location of objects present within a scene external the equipped vehicle within the field of view of said camera that is monitored by said camera;
wherein said image processor processes image data captured by said camera to detect lane markers on a road being driven by the equipped vehicle and located within the field of view of said camera;
wherein said control receives vehicle data via a communication bus of the equipped vehicle;
wherein said vehicle data comprises at least (i) data indicative of speed of the equipped vehicle and (ii) data indicative of trajectory of the equipped vehicle; and
wherein, responsive to processing by said image processor of image data captured by said camera, said control controls, at least in part, a pedestrian detection system of the equipped vehicle.
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Accused Products
Abstract
A vision system for a vehicle includes a camera having a field of view in a forward direction of travel of the vehicle. Image data captured by the camera is processed by an image processor of a control to determine location of objects present within a scene external the vehicle within the field of view of the camera. The image processor processes captured image data to detect lane markers on a road being driven by the vehicle and located within the field of view of the camera. The control receives vehicle data via a communication bus of the vehicle. The vehicle data includes at least (i) data indicative of speed of the vehicle and (ii) data indicative of trajectory of the vehicle. Responsive to processing by the image processor of captured image data, the control may control, at least in part, a pedestrian detection system of the vehicle.
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Citations
38 Claims
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1. A vision system for a vehicle, said vision system comprising:
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a camera having a field of view in a forward direction of travel of a vehicle equipped with said vision system; wherein said camera comprises a lens and a CMOS imaging array comprising a two-dimensional array of photosensing elements; wherein said two-dimensional array of photosensing elements comprises at least 307,200 photosensing elements arranged in a matrix array of rows and columns; wherein image data is captured by said camera as sequential frames of image data and is captured at a frame rate in the range of from 5 image frames per second to 120 image frames per second; a control comprising an image processor; wherein image data captured by said camera is processed by said image processor to determine location of objects present within a scene external the equipped vehicle within the field of view of said camera that is monitored by said camera; wherein said image processor processes image data captured by said camera to detect lane markers on a road being driven by the equipped vehicle and located within the field of view of said camera; wherein said control receives vehicle data via a communication bus of the equipped vehicle; wherein said vehicle data comprises at least (i) data indicative of speed of the equipped vehicle and (ii) data indicative of trajectory of the equipped vehicle; and wherein, responsive to processing by said image processor of image data captured by said camera, said control controls, at least in part, a pedestrian detection system of the equipped vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A vision system for a vehicle, said vision system comprising:
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a camera having a field of view in a forward direction of travel of a vehicle equipped with said vision system; wherein said camera comprises a lens and an imaging array comprising a two-dimensional array of photosensing elements; wherein said two-dimensional array of photosensing elements comprises at least 307,200 photosensing elements arranged in a matrix array of rows and columns; wherein image data is captured by said camera as sequential frames of image data and is captured at a frame rate in the range of from 5 image frames per second to 120 image frames per second; a control comprising an image processor; wherein image data captured by said camera is processed by said image processor to determine location of objects present within a scene external the equipped vehicle within the field of view of said camera that is monitored by said camera; wherein said image processor processes image data captured by said camera to detect lane markers on a road being driven by the equipped vehicle and located within the field of view of said camera; wherein said control receives vehicle data via a communication bus of the equipped vehicle; wherein said vehicle data comprises at least (i) data indicative of speed of the equipped vehicle and (ii) data indicative of trajectory of the equipped vehicle; wherein said camera is accommodated in a housing assembly that detachably attaches at a windshield of the equipped vehicle, and wherein, with the housing assembly attached at the windshield of the equipped vehicle, said camera views through a portion of the windshield swept by the vehicle'"'"'s windshield wiper system; and wherein said control tracks detected objects across multiple frames of image data captured by said camera and compares the detected objects tracked across multiple frames of image data to at least one of (i) their expected locations through the multiple frames as the equipped vehicle moves along the road and (ii) their expected paths through the multiple frames as the equipped vehicle moves along the road. - View Dependent Claims (24, 25, 26, 27, 28, 29)
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30. A vision system for a vehicle, said vision system comprising:
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a camera having a field of view in a forward direction of travel of a vehicle equipped with said vision system; wherein said camera comprises a lens and an imaging array comprising a two-dimensional array of photosensing elements; wherein said two-dimensional array of photosensing elements comprises at least 307,200 photosensing elements arranged in a matrix array of rows and columns; wherein image data is captured by said camera as sequential frames of image data and is captured at a frame rate in the range of from 5 image frames per second to 120 image frames per second; a control comprising an image processor; wherein image data captured by said camera is processed by said image processor to determine location of objects present within a scene external the equipped vehicle within the field of view of said camera that is monitored by said camera; wherein said image processor processes image data captured by said camera to detect lane markers on a road being driven by the equipped vehicle and located within the field of view of said camera; wherein said control receives vehicle data via a communication bus of the equipped vehicle; wherein said vehicle data comprises at least (i) data indicative of speed of the equipped vehicle and (ii) data indicative of trajectory of the equipped vehicle; wherein said camera is accommodated in a housing assembly that detachably attaches at a windshield of the equipped vehicle, and wherein, with the housing assembly attached at the windshield of the equipped vehicle, said camera views through a portion of the windshield swept by the vehicle'"'"'s windshield wiper system; and wherein image data captured by said camera from a first region of the monitored scene is processed by said image processor and image data captured by said camera from regions to the left and right of the first region of the monitored scene is processed by said image processor, and based at least in part on processing by said image processor of image data captured from the first region and the left and right regions, upcoming entry of other road users into the first region is anticipated in order to facilitate a rapid and appropriate response upon entry or just prior to entry of other road users into the first region. - View Dependent Claims (31, 32, 33, 34, 35, 36, 37, 38)
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Specification